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[fix] initialize IK before controller to prevent startup oscillation
Ensures heavy URDF parsing completes before control thread runs
main
silencht
7 months ago
committed by
GitHub
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GPG Key ID: B5690EEEBB952194
1 changed files with
4 additions and
4 deletions
-
teleop/teleop_hand_and_arm.py
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@ -136,17 +136,17 @@ if __name__ == '__main__': |
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# arm |
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if args.arm == "G1_29": |
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arm_ctrl = G1_29_ArmController(motion_mode=args.motion, simulation_mode=args.sim) |
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arm_ik = G1_29_ArmIK() |
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arm_ctrl = G1_29_ArmController(motion_mode=args.motion, simulation_mode=args.sim) |
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elif args.arm == "G1_23": |
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arm_ctrl = G1_23_ArmController(motion_mode=args.motion, simulation_mode=args.sim) |
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arm_ik = G1_23_ArmIK() |
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arm_ctrl = G1_23_ArmController(motion_mode=args.motion, simulation_mode=args.sim) |
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elif args.arm == "H1_2": |
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arm_ctrl = H1_2_ArmController(simulation_mode=args.sim) |
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arm_ik = H1_2_ArmIK() |
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arm_ctrl = H1_2_ArmController(simulation_mode=args.sim) |
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elif args.arm == "H1": |
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arm_ctrl = H1_ArmController(simulation_mode=args.sim) |
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arm_ik = H1_ArmIK() |
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arm_ctrl = H1_ArmController(simulation_mode=args.sim) |
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# end-effector |
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if args.ee == "dex3": |
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